Add some logging, comments, report unhandled events in the state machine.

Limit the state and trace commands to motors with finite state machines.

r1988 | dcl | 2007-05-25 16:19:37 +1000 (Fri, 25 May 2007) | 3 lines

site_ansto/motor_dmc2280.c

@@ -1220,6 +1220,16 @@ static void change_state(pDMC2280Driv self, StateFunc func) {
   self->subState = 0;
 }
 
+static void unhandled_event(pDMC2280Driv self, pEvtEvent event) {
+    char line[CMDLEN];
+    char text[CMDLEN];
+    snprintf(line, CMDLEN, "Motor=%s, State=%s, unhandled event=%s",
+        self->name,
+        state_name(self->myState),
+        event_name(event, text, CMDLEN));
+    SICSLogWrite(line, eStatus);
+}
+
 static int state_msg_callback(pAsyncTxn pCmd)
 {
   pDMC2280Driv self = (pDMC2280Driv) pCmd->cntx;
@@ -1326,6 +1336,7 @@ static void DMCState_Unknown(pDMC2280Driv self, pEvtEvent event) {
       /* TODO: handle timeout */
       break;
   }
+  unhandled_event(self, event);
   self->errorCode = STATEERROR;
 }
 
@@ -1404,6 +1415,7 @@ static void DMCState_Idle(pDMC2280Driv self, pEvtEvent event) {
       /* TODO handle message timeout */
       break;
   }
+  unhandled_event(self, event);
   self->errorCode = STATEERROR;
 }
 
@@ -1439,10 +1451,12 @@ static void DMCState_AirOn(pDMC2280Driv self, pEvtEvent event) {
         }
       } while (0);
       break;
+      /* TODO: handle halt command */
     case eTimeoutEvent:
       /* TODO handle message timeout */
       break;
   }
+  unhandled_event(self, event);
   self->errorCode = STATEERROR;
 }
 
@@ -1518,10 +1532,12 @@ static void DMCState_MotorOn(pDMC2280Driv self, pEvtEvent event) {
         }
       } while (0);
       break;
+      /* TODO: handle halt command */
     case eTimeoutEvent:
       /* TODO handle message timeout */
       break;
   }
+  unhandled_event(self, event);
   self->errorCode = STATEERROR;
 }
 
@@ -1720,6 +1736,7 @@ static void DMCState_Moving(pDMC2280Driv self, pEvtEvent event) {
       state_cmd_execute(self, CMD_HALT);
       return;
   }
+  unhandled_event(self, event);
   self->errorCode = STATEERROR;
 }
 
@@ -1774,6 +1791,7 @@ static void DMCState_MotorHalt(pDMC2280Driv self, pEvtEvent event)
       /* TODO handle message timeout */
       break;
   }
+  unhandled_event(self, event);
   self->errorCode = STATEERROR;
 }
 
@@ -1813,6 +1831,7 @@ static void DMCState_OffTimer(pDMC2280Driv self, pEvtEvent event) {
       }
       return;
   }
+  unhandled_event(self, event);
   self->errorCode = STATEERROR;
 }
 
@@ -1856,6 +1875,7 @@ static void DMCState_AirOff(pDMC2280Driv self, pEvtEvent event) {
       /* TODO handle message timeout */
       break;
   }
+  unhandled_event(self, event);
   self->errorCode = STATEERROR;
 }
 
@@ -1882,6 +1902,7 @@ static void DMCState_MotorOff(pDMC2280Driv self, pEvtEvent event) {
       /* TODO handle message timeout */
       break;
   }
+  unhandled_event(self, event);
   self->errorCode = STATEERROR;
 }
 
@@ -3261,7 +3282,7 @@ int DMC2280Action(SConnection *pCon, SicsInterp *pSics, void *pData,
       /* Handle further in generic motor driver */
       return MotorAction(pCon, pSics, pData, argc, argv);
     }
-    else if(strcasecmp("state", argv[1]) == 0) {
+    else if(self->has_fsm && strcasecmp("state", argv[1]) == 0) {
       char line[132];
       snprintf(line, 132, "%s.state = %s (timer=%s)",
           self->name, state_name(self->myState),
@@ -3269,7 +3290,7 @@ int DMC2280Action(SConnection *pCon, SicsInterp *pSics, void *pData,
       SCWrite(pCon, line, eValue);
       return 1;
     }
-    else if(strcasecmp("trace", argv[1]) == 0) {
+    else if(self->has_fsm && strcasecmp("trace", argv[1]) == 0) {
       if (argc > 2 && strcasecmp("on", argv[2]) == 0) {
         self->trace = pCon;
         SCWrite(pCon, "TRACE ON", eValue);